That sound you hear when you open the radiator cap on a stone cold system is the sound of air filling the remaining little vacuum in the system that could not be replenished by the expanded coolant due to the spring pressure of the vacuum valve in the cap, Its normal. If you had not opened the cap and driven off the vacuum would have been replaced with water within the radiator as it starts to expand.
If you want to confirm any residual pressure in the system then try to squeeze the radiator rubber pipes, they will be really soft and easy to squeeze. If you do that on a normal hot engine the pipes will be under about 14 psi pressure (depending on cap rating) and the pipes would be hard.